bool common_point(const DT_Complex& a, const MT_Transform& a2w, MT_Scalar a_margin,
const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb)
{
DT_Pack<const DT_Convex *, MT_Scalar> pack(DT_ObjectData<const DT_Convex *, MT_Scalar>(a.m_nodes, a.m_leaves, a2w, a_margin), b);
return common_point(DT_BBoxTree(a.m_cbox + pack.m_a.m_added, 0, a.m_type), pack, v, pb, pa);
}
bool object_test(Encounter& e) {
static Point p1, p2;
const Response& resp = respTable.find(e.obj1->ref, e.obj2->ref);
switch (resp.type) {
case DT_SIMPLE_RESPONSE:
if (intersect(*e.obj1, *e.obj2, e.sep_axis)) {
resp(e.obj1->ref, e.obj2->ref);
return true;
}
break;
case DT_SMART_RESPONSE:
if (prev_closest_points(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) {
Vector v = e.obj1->prev(p1) - e.obj2->prev(p2);
resp(e.obj1->ref, e.obj2->ref, p1, p2, v);
return true;
}
break;
case DT_WITNESSED_RESPONSE:
if (common_point(*e.obj1, *e.obj2, e.sep_axis, p1, p2)) {
resp(e.obj1->ref, e.obj2->ref, p1, p2, Vector(0, 0, 0));
return true;
}
break;
// Eric Espie: warning
case DT_NO_RESPONSE:
break;
}
return false;
}
bool common_point(const Complex& a, const Convex& b,
const Transform& a2w, const Transform& b2w,
Vector& v, Point& pa, Point& pb) {
Transform b2a;
b2a.multInverseLeft(a2w, b2w);
BBox bb = b.bbox(b2a);
return common_point(a.root, b, bb, b2a, v, pb, pa);
}
bool common_point(const Complex& a, const Complex& b,
const Transform& a2w, const Transform& b2w,
Vector& v, Point& pa, Point& pb) {
Transform b2a, a2b;
b2a.multInverseLeft(a2w, b2w);
a2b.invert(b2a);
Matrix abs_b2a = absolute(b2a.getBasis());
Matrix abs_a2b = absolute(a2b.getBasis());
return common_point(a.root, b.root, b2a, abs_b2a, a2b, abs_a2b, v, pa, pb);
}
DT_Bool DT_Encounter::exactTest(const DT_RespTable *respTable, int& count) const
{
const DT_ResponseList& responseList = respTable->find(m_obj_ptr1, m_obj_ptr2);
switch (responseList.getType())
{
case DT_SIMPLE_RESPONSE:
if (intersect(*m_obj_ptr1, *m_obj_ptr2, m_sep_axis))
{
++count;
return (respTable->getResponseClass(m_obj_ptr1) < respTable->getResponseClass(m_obj_ptr2)) ?
responseList(m_obj_ptr1->getClientObject(), m_obj_ptr2->getClientObject(), 0) :
responseList(m_obj_ptr2->getClientObject(), m_obj_ptr1->getClientObject(), 0);
}
break;
case DT_WITNESSED_RESPONSE: {
MT_Point3 p1, p2;
if (common_point(*m_obj_ptr1, *m_obj_ptr2, m_sep_axis, p1, p2))
{
++count;
if (respTable->getResponseClass(m_obj_ptr1) < respTable->getResponseClass(m_obj_ptr2))
{
DT_CollData coll_data;
p1.getValue(coll_data.point1);
p2.getValue(coll_data.point2);
return responseList(m_obj_ptr1->getClientObject(), m_obj_ptr2->getClientObject(), &coll_data);
}
else
{
DT_CollData coll_data;
p1.getValue(coll_data.point2);
p2.getValue(coll_data.point1);
return responseList(m_obj_ptr2->getClientObject(), m_obj_ptr1->getClientObject(), &coll_data);
}
}
break;
}
case DT_DEPTH_RESPONSE: {
MT_Point3 p1, p2;
if (penetration_depth(*m_obj_ptr1, *m_obj_ptr2, m_sep_axis, p1, p2))
{
++count;
if (respTable->getResponseClass(m_obj_ptr1) < respTable->getResponseClass(m_obj_ptr2))
{
DT_CollData coll_data;
p1.getValue(coll_data.point1);
p2.getValue(coll_data.point2);
(p2 - p1).getValue(coll_data.normal);
return responseList(m_obj_ptr1->getClientObject(), m_obj_ptr2->getClientObject(), &coll_data);
}
else
{
DT_CollData coll_data;
p1.getValue(coll_data.point2);
p2.getValue(coll_data.point1);
(p1 - p2).getValue(coll_data.normal);
return responseList(m_obj_ptr2->getClientObject(), m_obj_ptr1->getClientObject(), &coll_data);
}
}
break;
}
case DT_NO_RESPONSE:
break;
default:
assert(false);
}
return DT_CONTINUE;
}
